Research On Kinematics And Path Planning Of Line-driven Hedge Trimming Manipulator

In view of the fact that the current hedge trimming robot is difficult to carry out maintenance work in complex and non-structural environments,it is inspired by the principle of continuous robot and bionics to propose a more environmentally adaptive,higher degree of freedom.Redundant lines drive hedge trimmers.In this paper,the mathematical modeling of the kinematics and dynamics of the hedge trimming manipulator is established,and the path planning research is carried out on the end of the manipulator.Finally,the simulation software is used to simulate the hedge manipulator model.This paper has certain guiding significance for the development of new robots in the field of hedge trimming.This topic originated from the Chongqing Urban Management Science and Technology Plan Project “Rise and Development and Application of Urban Road Hedge Trim Robot”.The main research contents of the thesis include:(1)According to the various indicators and design requirements of the urban road hedgerow,the overall layout of the hedge trimming robot and the key components such as the line-driven robot arm and the moving mechanism are designed.The solids three-dimensional modeling software is used to design the hedge trimmer robot.Parts and models were built.(2)Based on the coordinate analysis method,the kinematics mathematical model of single joint is established.The function relationship between the length of each group of driving ropes and the corresponding two joint angles is solved.The forward kinematics of 10-DOF manipulators is analyzed based on D-H parameter method.The mathematical model was programmed in MATLAB to draw the working range of the manipulator by point-by-point method.The genetic algorithm was used to search the inverse solution of the joint angle of the hedge trimmer manipulator with the minimum joint angle and the end position accuracy as constraints.The length coupling relationship between the driving ropes of the hedge trimming manipulators is revealed,and the decoupling formula is deduced.Finally,the correctness of the forward and reverse kinematics of the manipulator and the decoupled mathematical model are verified by simulation.The full traversal path planning of the hedge manipulator provides a theoretical basis.(3)Using the Lagrange method to simulate the dynamics of the line-driven hedge trimming manipulator,then draw the driving joints with the post-processing module.The driving torque curve is used as the basis for selecting the drive rope and the drive motor.(4)According to the working environment of the hedge trimming manipulator,the collision conditions are analyzed and a collision detection method based on the section is proposed.The working environment model is established by fitting the working environment of the robot arm and the obstacle point cloud data by the least squares method.According to the shunt model,an end-to-end full traversal path planning method considering the obstacle avoidance of the middle link of the robot arm is proposed.The MATLAB program was used to calculate the activity values of each grid,and the full traversal path diagram of the end of the manipulator was drawn to verify the validity of the proposed traversal method.Finally,a straight line path in the raster map is selected to trajectory planning,and the relationship between the corners of each joint and time is obtained.And simulation verification in MATLAB.